Since you're working with web languages, you may be interested in p2.js. It is a 2D rigid body physics engine written in JavaScript. Includes collision detection, contacts, friction, restitution, motors, springs, advanced constraints and various shape types. You can find demo, Examples, Documentation, etc here https://github.com/schteppe/p2.js here's a direct link to the rag doll example using p2.js https://schteppe.github.io/p2.js/demos/ragdoll.html